Search for dissertations about: "Orbital Exponential Stability"

Found 1 swedish dissertation containing the words Orbital Exponential Stability.

2. 1. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking

   Author : Pedro Xavier Miranda La Hera; Anton Shiriaev; Umeå universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Under-actuated Systems; Orbital Exponential Stability; Motion Planning; Virtual Constraints; Walking robots; Automatic control; Reglerteknik;

   Abstract : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. READ MORE